Rmw preallocate #160

mjcarroll · 2018-11-21T16:54:54Z

Connects to #159

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

wjwwood

Should the rmw_*_serialized_message() functions be affected as well? (not rhetorical)

rmw/include/rmw/rmw.h

clalancette

This one looks generally OK, though I agree with most of @wjwwood 's comments that are still open about parameter order and documentation.

rmw/include/rmw/rmw.h

mjcarroll · 2019-04-30T22:05:41Z

Addressed feedback and added documentation, please take another look.

rmw/include/rmw/types.h

clalancette

Lots of little nits in the documentation. Otherwise, I think this is looking good (with the knowledge that the upper layers will have to change because of the change in API).

rmw/include/rmw/rmw.h

clalancette

Lots of documentation nits, all but one for consistency. The last one is just a missing field that is not documented. Since this is all small potatoes, I'll approve anyway.

rmw/include/rmw/rmw.h

mjcarroll · 2019-05-01T20:29:29Z

CI Status (all rmw_preallocate branches)

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

mjcarroll · 2019-05-02T04:02:32Z

Once more after some rebases:

Linux
Linux-aarch64
macOS
Windows

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> Signed-off-by: Michael Carroll <michael@openrobotics.org>

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Co-Authored-By: mjcarroll <michael@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org>

Additionally updates documentation accordingly. Signed-off-by: Michael Carroll <michael@openrobotics.org>

Co-Authored-By: mjcarroll <michael@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org>

Signed-off-by: Michael Carroll <michael@openrobotics.org>

wjwwood · 2019-05-02T04:59:53Z

There are warnings on Windows, but they're in the generated IDL code.

I looked at the CI job and it looks like it is pulling in changes from more repositories than I expected:

21:03:18 ==> vcs custom . --args checkout -b rmw_preallocate --track origin/rmw_preallocate
21:03:19 EEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEE....EE..EEEEEEE.E.EEEEEEEEEEE..
21:03:19 === .\src\ament\ament_cmake (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ament\ament_index (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ament\ament_lint (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ament\ament_package (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ament\googletest (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ament\uncrustify_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\eProsima\Fast-CDR (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\eProsima\Fast-RTPS (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\osrf\osrf_pycommon (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\osrf\osrf_testing_tools_cpp (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-perception\laser_geometry (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-planning\navigation_msgs (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\python_qt_binding (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\qt_gui_core (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_console (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_msg (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_plot (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_publisher (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_py_console (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_service_caller (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_shell (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_srv (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros-visualization\rqt_top (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\ament_cmake_ros (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\common_interfaces (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\console_bridge_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\demos (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\example_interfaces (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\examples (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\geometry2 (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\kdl_parser (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\launch (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\launch_ros (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\libyaml_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\message_filters (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\orocos_kinematics_dynamics (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\poco_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rcl (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rcl_interfaces (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rcl_logging (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rclcpp (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rclpy (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rcpputils (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rcutils (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\realtime_support (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rmw (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rmw_connext (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rmw_fastrtps (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rmw_implementation (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rmw_opensplice (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\robot_state_publisher (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\ros1_bridge (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\ros2cli (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\rosidl_dds (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl_defaults (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl_python (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl_typesupport (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl_typesupport_connext (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl_typesupport_fastrtps (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rosidl_typesupport_opensplice (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\rviz (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\sros2 (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\system_tests (git) ===
21:03:19 Branch 'rmw_preallocate' set up to track remote branch 'rmw_preallocate' from 'origin'.
21:03:19 Switched to a new branch 'rmw_preallocate'
21:03:19 === .\src\ros2\test_interface_files (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\tinydir_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\tinyxml2_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\tinyxml_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\tlsf (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\unique_identifier_msgs (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\urdf (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\urdfdom (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros2\yaml_cpp_vendor (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros\class_loader (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros\pluginlib (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros\resource_retriever (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros\ros_environment (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it
21:03:19 === .\src\ros\urdfdom_headers (git) ===
21:03:19 fatal: 'origin/rmw_preallocate' is not a commit and a branch 'rmw_preallocate' cannot be created from it

Specifically ros2/rosidl, which may be the cause of the compiler warnings on Windows. So, I'm just not sure, so I'll leave this until tomorrow morning.

mjcarroll · 2019-05-02T13:37:16Z

That looks to be the correct set of repositories. Were there any in there that you weren't expecting?

mjcarroll · 2019-05-02T15:11:56Z

Looking at the CI, I don't believe that those (edit: MSBuild warnings) are related to anything that I would have changed, it's in the actual generated message code. @jacobperron could this be related to the changes you made yesterday?

dirk-thomas · 2019-05-02T15:18:41Z

These CI warnings https://ci.ros2.org/job/ci_windows/6715/warnings43Result/ should be addressed by ros2/rosidl#375.

* Proposola of changes for RMW_Preallocate. Related /ros2/rmw#160 Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Changed RCL interface Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> * Updates for allocation in serialize methods. Signed-off-by: Michael Carroll <michael@openrobotics.org> * Fix tests for new APIs. Signed-off-by: Michael Carroll <michael@openrobotics.org>

mjcarroll added the in progress Actively being worked on (Kanban column) label Nov 21, 2018

mjcarroll force-pushed the rmw_preallocate branch from 1717353 to 61d9c94 Compare December 4, 2018 18:43

gonzodepedro pushed a commit to ros2/rcl that referenced this pull request Feb 7, 2019

Proposola of changes for RMW_Preallocate. Related /ros2/rmw#160

5952395

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

gonzodepedro mentioned this pull request Feb 7, 2019

Proposal of changes for RMW_Preallocate. ros2/rcl#383

Closed

cottsay assigned mjcarroll Feb 9, 2019

gonzodepedro pushed a commit to ros2/rcl that referenced this pull request Mar 28, 2019

Proposola of changes for RMW_Preallocate. Related /ros2/rmw#160

9c00d4f

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

mjcarroll force-pushed the rmw_preallocate branch 2 times, most recently from 9cbe774 to e6a1577 Compare April 30, 2019 14:22

mjcarroll pushed a commit to ros2/rcl that referenced this pull request Apr 30, 2019

Proposola of changes for RMW_Preallocate. Related /ros2/rmw#160

0401d0a

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

This was referenced Apr 30, 2019

Updates for preallocation API. ros2/rmw_fastrtps#274

Merged

API updates for preallocation work. ros2/rmw_opensplice#267

Merged

API updates for rmw preallocation work ros2/rclcpp#711

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wjwwood reviewed Apr 30, 2019

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mjcarroll force-pushed the rmw_preallocate branch 2 times, most recently from c718a57 to 680c578 Compare May 1, 2019 15:23

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mjcarroll force-pushed the rmw_preallocate branch from 0cc2f91 to b805ba2 Compare May 1, 2019 21:51

mjcarroll pushed a commit to ros2/rcl that referenced this pull request May 2, 2019

Proposola of changes for RMW_Preallocate. Related /ros2/rmw#160

1eb5467

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar>

mjcarroll and others added 2 commits May 1, 2019 23:05

Add methods related to middleware preallocation.

f44a916

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Changes to support RMW preallocation

b12ce0d

Signed-off-by: Gonzalo de Pedro <gonzalo@depedro.com.ar> Signed-off-by: Michael Carroll <michael@openrobotics.org>

Gonzalo de Pedro and others added 7 commits May 1, 2019 23:05

added fini for subscriptino allocation

ce91f8f

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Address reviewer feedback.

4b5484f

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Documentation.

459901c

Signed-off-by: Michael Carroll <michael@openrobotics.org>

Apply suggestions from code review

0df6366

Co-Authored-By: mjcarroll <michael@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org>

Add allocation to serialized_* methods.

b4614b3

Additionally updates documentation accordingly. Signed-off-by: Michael Carroll <michael@openrobotics.org>

Apply suggestions from code review

cdecdf1

Co-Authored-By: mjcarroll <michael@openrobotics.org> Signed-off-by: Michael Carroll <michael@openrobotics.org>

Restore documentation for message_info.

90a9719

Signed-off-by: Michael Carroll <michael@openrobotics.org>

mjcarroll force-pushed the rmw_preallocate branch from b805ba2 to 90a9719 Compare May 2, 2019 04:05

mjcarroll merged commit 2a30008 into master May 2, 2019

delete-merged-branch bot deleted the rmw_preallocate branch May 2, 2019 16:30

mjcarroll removed the in review Waiting for review (Kanban column) label May 2, 2019

mjcarroll mentioned this pull request May 9, 2019

Update Release Notes for Dashing Features ros2/ros2_documentation#186

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Rmw preallocate #160

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